// MIT License

// Copyright (c) 2019 Erin Catto

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "test.h"

class ContinuousTest : public Test
{
public:

  ContinuousTest()
  {
    {
      b2BodyDef bd;
      bd.position.Set(0.0f, 0.0f);
      b2Body* body = m_world->CreateBody(&bd);

      b2EdgeShape edge;

      edge.SetTwoSided(b2Vec2(-10.0f, 0.0f), b2Vec2(10.0f, 0.0f));
      body->CreateFixture(&edge, 0.0f);

      b2PolygonShape shape;
      shape.SetAsBox(0.2f, 1.0f, b2Vec2(0.5f, 1.0f), 0.0f);
      body->CreateFixture(&shape, 0.0f);
    }

#if 1
    {
      b2BodyDef bd;
      bd.type = b2_dynamicBody;
      bd.position.Set(0.0f, 20.0f);
      //bd.angle = 0.1f;

      b2PolygonShape shape;
      shape.SetAsBox(2.0f, 0.1f);

      m_body = m_world->CreateBody(&bd);
      m_body->CreateFixture(&shape, 1.0f);

      m_angularVelocity = RandomFloat(-50.0f, 50.0f);
      //m_angularVelocity = 46.661274f;
      m_body->SetLinearVelocity(b2Vec2(0.0f, -100.0f));
      m_body->SetAngularVelocity(m_angularVelocity);
    }
#else
    {
      b2BodyDef bd;
      bd.type = b2_dynamicBody;
      bd.position.Set(0.0f, 2.0f);
      b2Body* body = m_world->CreateBody(&bd);

      b2CircleShape shape;
      shape.m_p.SetZero();
      shape.m_radius = 0.5f;
      body->CreateFixture(&shape, 1.0f);

      bd.bullet = true;
      bd.position.Set(0.0f, 10.0f);
      body = m_world->CreateBody(&bd);
      body->CreateFixture(&shape, 1.0f);
      body->SetLinearVelocity(b2Vec2(0.0f, -100.0f));
    }
#endif

    extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters;
    extern B2_API int32 b2_toiCalls, b2_toiIters;
    extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters;
    extern B2_API float b2_toiTime, b2_toiMaxTime;

    b2_gjkCalls = 0; b2_gjkIters = 0; b2_gjkMaxIters = 0;
    b2_toiCalls = 0; b2_toiIters = 0;
    b2_toiRootIters = 0; b2_toiMaxRootIters = 0;
    b2_toiTime = 0.0f; b2_toiMaxTime = 0.0f;
  }

  void Launch()
  {
    extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters;
    extern B2_API int32 b2_toiCalls, b2_toiIters;
    extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters;
    extern B2_API float b2_toiTime, b2_toiMaxTime;

    b2_gjkCalls = 0; b2_gjkIters = 0; b2_gjkMaxIters = 0;
    b2_toiCalls = 0; b2_toiIters = 0;
    b2_toiRootIters = 0; b2_toiMaxRootIters = 0;
    b2_toiTime = 0.0f; b2_toiMaxTime = 0.0f;

    m_body->SetTransform(b2Vec2(0.0f, 20.0f), 0.0f);
    m_angularVelocity = RandomFloat(-50.0f, 50.0f);
    m_body->SetLinearVelocity(b2Vec2(0.0f, -100.0f));
    m_body->SetAngularVelocity(m_angularVelocity);
  }

  void Step(Settings& settings) override
  {
    Test::Step(settings);

    extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters;

    if (b2_gjkCalls > 0)
    {
      g_debugDraw.DrawString(5, m_textLine, "gjk calls = %d, ave gjk iters = %3.1f, max gjk iters = %d",
        b2_gjkCalls, b2_gjkIters / float(b2_gjkCalls), b2_gjkMaxIters);
      m_textLine += m_textIncrement;
    }

    extern B2_API int32 b2_toiCalls, b2_toiIters;
    extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters;
    extern B2_API float b2_toiTime, b2_toiMaxTime;

    if (b2_toiCalls > 0)
    {
      g_debugDraw.DrawString(5, m_textLine, "toi calls = %d, ave [max] toi iters = %3.1f [%d]",
                b2_toiCalls, b2_toiIters / float(b2_toiCalls), b2_toiMaxRootIters);
      m_textLine += m_textIncrement;
      
      g_debugDraw.DrawString(5, m_textLine, "ave [max] toi root iters = %3.1f [%d]",
        b2_toiRootIters / float(b2_toiCalls), b2_toiMaxRootIters);
      m_textLine += m_textIncrement;

      g_debugDraw.DrawString(5, m_textLine, "ave [max] toi time = %.1f [%.1f] (microseconds)",
        1000.0f * b2_toiTime / float(b2_toiCalls), 1000.0f * b2_toiMaxTime);
      m_textLine += m_textIncrement;
    }

    if (m_stepCount % 60 == 0)
    {
      //Launch();
    }
  }

  static Test* Create()
  {
    return new ContinuousTest;
  }

  b2Body* m_body;
  float m_angularVelocity;
};

static int testIndex = RegisterTest("Continuous", "Continuous Test", ContinuousTest::Create);
